cmake_minimum_required(VERSION 2.8.3)
project(imu_x_fusion)

# set(CMAKE_BUILD_TYPE Debug)

if(NOT CMAKE_BUILD_TYPE)
  set(CMAKE_BUILD_TYPE "Release")
endif()

# Compile as C++11, supported in ROS Kinetic and newer
add_compile_options(-std=c++14 -g) # for std::make_unique
set(CMAKE_CXX_STANDARD 14)
add_definitions(-w)

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
  roscpp
  nav_msgs
  cv_bridge
  eigen_conversions
  message_generation
)

## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)

find_package(Eigen3 REQUIRED)

list(APPEND CMAKE_MODULE_PATH /usr/share/cmake/geographiclib) # for ubuntu 18.04
find_package (GeographicLib REQUIRED)

find_package(OpenCV)
if(OpenCV_FOUND)
	include_directories(${OpenCV_INCLUDE_DIRS})
	# link_libraries(${OpenCV_LIBS})
endif()

find_package(Ceres REQUIRED)
if(Ceres_FOUND)
  include_directories(${CERES_INCLUDE_DIRS})
endif()

find_package(g2o REQUIRED)
if(g2o_FOUND)
    include_directories(${g2o_INCLUDE_DIRS})
    # link_directories(/usr/local/lib/)
    message("  =========== g2o libs: " ${g2o_INCLUDE_DIRS})
endif()
set(g2o_LIBS g2o_core g2o_stuff g2o_types_sba g2o_types_slam3d g2o_solver_csparse g2o_csparse_extension)

# find_package(GTSAMCMakeTools)
# find_package(GTSAM REQUIRED)
# include_directories(${GTSAM_INCLUDE_DIR})
# set(GTSAM_LIBS gtsam)
# message("gtsam: " ${GTSAM_INCLUDE_DIR})

## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()

################################################
## Declare ROS messages, services and actions ##
################################################

## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
##   * add a build_depend tag for "message_generation"
##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
##     but can be declared for certainty nonetheless:
##     * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
##   * add "message_generation" and every package in MSG_DEP_SET to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * add "message_runtime" and every package in MSG_DEP_SET to
##     catkin_package(CATKIN_DEPENDS ...)
##   * uncomment the add_*_files sections below as needed
##     and list every .msg/.srv/.action file to be processed
##   * uncomment the generate_messages entry below
##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)

# Generate messages in the 'msg' folder
add_message_files(
  FILES
  Encoder.msg
)

## Generate services in the 'srv' folder
# add_service_files(
#   FILES
#   Service1.srv
#   Service2.srv
# )

## Generate actions in the 'action' folder
# add_action_files(
#   FILES
#   Action1.action
#   Action2.action
# )

# Generate added messages and services with any dependencies listed here
generate_messages(
  DEPENDENCIES
  std_msgs
)

################################################
## Declare ROS dynamic reconfigure parameters ##
################################################

## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
##   * add "dynamic_reconfigure" to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * uncomment the "generate_dynamic_reconfigure_options" section below
##     and list every .cfg file to be processed

## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
#   cfg/DynReconf1.cfg
#   cfg/DynReconf2.cfg
# )

###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
  INCLUDE_DIRS include
#  LIBRARIES imu_gnss_fusion
  CATKIN_DEPENDS roscpp nav_msgs cv_bridge
  DEPENDS system_lib
  CATKIN_DEPENDS message_runtime
)

###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
  include
  ${catkin_INCLUDE_DIRS}
  ${EIGEN3_INCLUDE_DIR}
)

## Declare a C++ library
# add_library(${PROJECT_NAME}
#   src/${PROJECT_NAME}/imu_gnss_fusion.cpp
# )

## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

add_executable(kaist_pub src/dataset/kaist_pub.cpp)
target_link_libraries(kaist_pub ${catkin_LIBRARIES} ${OpenCV_LIBS})
add_dependencies(kaist_pub ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

add_executable(imu_gnss_ekf_node src/imu_gnss_ekf.cpp)
set_target_properties(imu_gnss_ekf_node PROPERTIES COMPILE_DEFINITIONS EIGEN_NO_MALLOC)
target_link_libraries(imu_gnss_ekf_node ${catkin_LIBRARIES} ${OpenCV_LIBS} ${GeographicLib_LIBRARIES})

add_executable(imu_vo_ekf_node src/imu_vo_ekf.cpp)
target_link_libraries(imu_vo_ekf_node ${catkin_LIBRARIES} ${OpenCV_LIBS})

add_executable(imu_vo_ukf_node src/imu_vo_ukf.cpp)
target_link_libraries(imu_vo_ukf_node ${catkin_LIBRARIES} ${OpenCV_LIBS})

add_executable(imu_vo_map_node src/imu_vo_map.cpp)
target_link_libraries(imu_vo_map_node ${catkin_LIBRARIES} ${OpenCV_LIBS} ${CERES_LIBRARIES} ${g2o_LIBS})

#############
## Install ##
#############

# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html

# Mark executable scripts (Python etc.) for installation
# in contrast to setup.py, you can choose the destination
install(PROGRAMS
  scripts/folium_csv.py
  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

# Mark executables for installation
# See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
install(TARGETS 
  imu_gnss_ekf_node imu_vo_ekf_node imu_vo_ukf_node imu_vo_map_node
  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
# install(TARGETS ${PROJECT_NAME}
#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
# )

# # Mark cpp header files for installation
# install(DIRECTORY include/common/
#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
#   FILES_MATCHING PATTERN "*.h"
#   PATTERN ".svn" EXCLUDE
# )

install(DIRECTORY 
  include/common
  include/estimator
  include/fusion
  include/sensor
  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}/../
)

install(DIRECTORY
  config
  launch
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)

## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
#   # myfile1
#   # myfile2
#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )

#############
## Testing ##
#############

## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_imu_gnss_fusion.cpp)
# if(TARGET ${PROJECT_NAME}-test)
#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()

## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
